﻿using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace SaiPuLSCoffee.model
{
    /// <summary>
    /// 左臂
    /// </summary>
    public class Robot1Model
    {
        private static Robot1Model instance;
        private Robot1Model() { }

        public static Robot1Model Instance
        {
            get
            {
                if (instance == null)
                {
                    instance = new Robot1Model();
                }
                return instance;
            }
        }

        #region 左臂写指令
        /// <summary>
        /// 取碗1 开
        /// </summary>
        public string RobotQW1L_UP { get; set; } = "03 05 00 30 FF 00 8D D7";
        /// <summary>
        /// 取碗1 关
        /// </summary>
        public string RobotQW1L_Down { get; set; } = "03 05 00 30 00 00 CC 27";
        /// <summary>
        /// 取碗2 开
        /// </summary>
        public string RobotQW2L_UP { get; set; } = "03 05 00 31 FF 00 DC 17";
        /// <summary>
        /// 取碗2 关
        /// </summary>
        public string RobotQW2L_Down { get; set; } = "03 05 00 31 00 00 9D E7";
        /// <summary>
        /// 豆1 开
        /// </summary>
        public string RobotD1L_UP { get; set; } = "03 05 00 32 FF 00 2C 17";
        /// <summary>
        /// 豆1 关
        /// </summary>
        public string RobotD1L_Down { get; set; } = "03 05 00 32 00 00 6D E7";
        /// <summary>
        /// 豆2 开
        /// </summary>
        public string RobotD2L_UP { get; set; } = "03 05 00 33 FF 00 7D D7";
        /// <summary>
        /// 豆2 关
        /// </summary>
        public string RobotD2L_Down { get; set; } = "03 05 00 33 00 00 3C 27";
        /// <summary>
        /// 豆3 开
        /// </summary>
        public string RobotD3L_UP { get; set; } = "03 05 00 34 FF 00 CC 16";
        /// <summary>
        /// 豆3 关
        /// </summary>
        public string RobotD3L_Down { get; set; } = "03 05 00 34 00 00 8D E6";
        /// <summary>
        /// 洗碗1 开
        /// </summary>
        public string RobotXW1L_UP { get; set; } = "03 05 00 35 FF 00 9D D6";
        /// <summary>
        /// 洗碗1 关
        /// </summary>
        public string RobotXW1L_Down { get; set; } = "03 05 00 35 00 00 DC 26";
        /// <summary>
        /// 洗碗2 开
        /// </summary>
        public string RobotXW2L_UP { get; set; } = "03 05 00 36 FF 00 6D D6";
        /// <summary>
        /// 洗碗2 关
        /// </summary>
        public string RobotXW2L_Down { get; set; } = "03 05 00 36 00 00 2C 26";
        #endregion
        #region 左臂读指令
        /// <summary>
        /// 原点
        /// </summary>
        public string RobotYD_Sel { get; set; } = "03 02 00 10 00 01 B9 ED";
        /// <summary>
        /// 碗1待萃取
        /// </summary>
        public string RobotW1DCQ_Sel { get; set; } = "03 02 00 11 00 01 E8 2D";
        /// <summary>
        /// 碗2待萃取
        /// </summary>
        public string RobotW2DCQ_Sel { get; set; } = "03 02 00 12 00 01 18 2D";
        /// <summary>
        /// 碗1恢复完
        /// </summary>
        public string RobotW1HFW_Sel { get; set; } = "03 02 00 13 00 01 49 ED";
        /// <summary>
        /// 碗2恢复完
        /// </summary>
        public string RobotW2HFW_Sel { get; set; } = "03 02 00 14 00 01 F8 2C";
        /// <summary>
        /// 碗1拆完（冲洗）
        /// </summary>
        public string RobotW1CWCX_Sel { get; set; } = "03 02 00 15 00 01 A9 EC";
        /// <summary>
        /// 碗2拆完（冲洗）
        /// </summary>
        public string RobotW2CWCX_Sel { get; set; } = "03 02 00 16 00 01 59 EC";
        #endregion
    }
}
